An optical navigation device, such an optical mouse, includes a housing, an illumination system, a tracking engine, and multiple height-specific imaging systems located within the housing. The height-specific imaging systems generate image information in response to reflected light from a navigation surface and each one the height-specific imaging systems is positioned to detect the largest portion of reflected light at a different separation distance between the housing and the navigation surface. An integrated circuit (IC) device for optical navigation includes an aperture plate having height-specific apertures and height-specific navigation sensor arrays aligned in one-to-one correspondence with the height-specific apertures and configured to generate image information in response to light that passes through the corresponding height-specific apertures. An optical element for use in an optical navigation system includes an illumination source lens and multiple height-specific focal lenses.